optim cobboard

[aversive.git] / projects / microb2010 / mainboard / strat.c

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 52b151e..3839738 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -67,6 +67,7 @@
 #define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
 #define COL_SCAN_PRE_MARGIN 250
 
+static uint8_t strat_running = 0;
 struct strat_conf strat_conf;
 
 /*************************************************************/
@@ -100,22 +101,19 @@ void strat_conf_dump(const char *caller)
 /* call it just before launching the strat */
 void strat_init(void)
 {
+#ifdef HOST_VERSION
        position_set(&mainboard.pos, 298.16,
                     COLOR_Y(308.78), COLOR_A(70.00));
-
-       /* XXX init rollers, .. */
-
-       strat_db_init();
+#endif
 
        /* we consider that the color is correctly set */
-
+       strat_running = 1;
+       strat_db_init();
        strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
        time_reset();
        interrupt_traj_reset();
 
-       //i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
-       //i2c_cobboard_harvest(I2C_LEFT_SIDE);
-       //i2c_cobboard_harvest(I2C_RIGHT_SIDE);
+       i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
        i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
 
        /* used in strat_base for END_TIMER */
@@ -131,6 +129,7 @@ void strat_exit(void)
        uint8_t flags;
 #endif
 
+       strat_running = 0;
        mainboard.flags &= ~(DO_TIMER);
        strat_hardstop();
        time_reset();
@@ -144,20 +143,60 @@ void strat_exit(void)
 #endif
 }
 
-/* called periodically */
+/* called periodically (10ms) */
 void strat_event(void *dummy)
 {
-#if 0
-       /* pack or deploy spickle */
-       if (strat_infos.status.flags & STRAT_STATUS_LHARVEST) {
-               if (sensor_get(S_LCOB_PRESENT)) {
-                       if (sensor_get(S_LCOB_WHITE))
-                               i2c_ballboard_set_mode();
-                       else
-                               ;
+       uint8_t flags;
+       uint8_t lcob, rcob;
+       uint8_t lidx, ridx;
+
+       /* ignore when strat is not running */
+       if (strat_running == 0)
+               return;
+
+       IRQ_LOCK(flags);
+       lcob = ballboard.lcob;
+       ballboard.lcob = I2C_COB_NONE;
+       rcob = ballboard.rcob;
+       ballboard.rcob = I2C_COB_NONE;
+       IRQ_UNLOCK(flags);
+
+       /* XXX take opponent position into account */
+
+
+       /* detect cob on left side */
+       if (corn_is_near(&lidx, I2C_LEFT_SIDE)) {
+               if (lcob != I2C_COB_NONE) {
+                       corn_set_color(strat_db.corn_table[lidx], lcob);
+                       DEBUG(E_USER_STRAT, "lcob %s %d",
+                             lcob == I2C_COB_WHITE ? "white" : "black", lidx);
                }
+               if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
+                       i2c_cobboard_autoharvest(I2C_LEFT_SIDE);
+               else
+                       i2c_cobboard_deploy(I2C_LEFT_SIDE);
        }
-#endif
+       else {
+               i2c_cobboard_deploy(I2C_LEFT_SIDE);
+       }
+
+       /* detect cob on right side */
+       if (corn_is_near(&ridx, I2C_RIGHT_SIDE)) {
+               if (rcob != I2C_COB_NONE) {
+                       corn_set_color(strat_db.corn_table[ridx], rcob);
+                       DEBUG(E_USER_STRAT, "rcob %s %d",
+                             rcob == I2C_COB_WHITE ? "white" : "black", ridx);
+               }
+               if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE)
+                       i2c_cobboard_autoharvest(I2C_RIGHT_SIDE);
+               else
+                       i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+       }
+       else {
+               i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+       }
+
+
        /* limit speed when opponent is close */
        strat_limit_speed();
 }
@@ -171,20 +210,20 @@ static uint8_t strat_beginning(void)
        strat_set_speed(600, SPEED_ANGLE_FAST);
 #else
        /* 250 */
-       strat_set_speed(600, SPEED_ANGLE_FAST);
+       strat_set_speed(250, SPEED_ANGLE_FAST);
 #endif
 
 
-       strat_set_speed(600, 60); /* OK */
-       // strat_set_speed(250, 28); /* OK */
+       // strat_set_speed(600, 60); /* OK */
+       strat_set_speed(250, 28); /* OK */
 
-       trajectory_d_a_rel(&mainboard.traj, 500, COLOR_A(20));
+       trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
        err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
                                    TRAJ_FLAGS_STD);
 
        strat_set_acc(ACC_DIST, ACC_ANGLE);
 
-#if 0
+#if 1
  l1:
        if (get_cob_count() >= 5)
                strat_set_speed(600, SPEED_ANGLE_FAST);